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Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...

#include <pcl/keypoints/smoothed_surfaces_keypoint.h>

Public Types
using	Ptr = shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > >
using	ConstPtr = shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > >
using	PointCloudT = pcl::PointCloud< PointT >
using	PointCloudTConstPtr = typename PointCloudT::ConstPtr
using	PointCloudNT = pcl::PointCloud< PointNT >
using	PointCloudNTConstPtr = typename PointCloudNT::ConstPtr
using	PointCloudTPtr = typename PointCloudT::Ptr
using	KdTreePtr = typename Keypoint< PointT, PointT >::KdTreePtr
Public Types inherited from pcl::Keypoint< PointT, PointT >
using	Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >
using	ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >
using	BaseClass = PCLBase< PointInT >
using	KdTree = pcl::search::Search< PointInT >
using	KdTreePtr = typename KdTree::Ptr
using	PointCloudIn = pcl::PointCloud< PointInT >
using	PointCloudInPtr = typename PointCloudIn::Ptr
using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using	PointCloudOut = pcl::PointCloud< PointOutT >
using	SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>
using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)>

Public Member Functions
	SmoothedSurfacesKeypoint ()
void	addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
void	resetClouds ()
void	setNeighborhoodConstant (float neighborhood_constant)
float	getNeighborhoodConstant ()
void	setInputNormals (const PointCloudNTConstPtr &normals)
void	setInputScale (float input_scale)
void	detectKeypoints (PointCloudT &output) override
Public Member Functions inherited from pcl::Keypoint< PointT, PointT >
	Keypoint ()
	Keypoint ()
	Empty constructor. More...
void	harrisCorner (PointT &output, PointT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
void	hessianBlob (PointT &output, PointT &input, const float sigma, bool SCALE)
void	hessianBlob (PointT &output, PointT &input, const float start_scale, const float scaling_factor, const int num_scales)
void	imageElementMultiply (PointT &output, PointT &input1, PointT &input2)
	~Keypoint ()
	Empty destructor. More...
virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for. More...
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset. More...
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...
double	getSearchParameter ()
	Get the internal search parameter. More...
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation. More...
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More...
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors. More...
pcl::PointIndicesConstPtr	getKeypointsIndices ()
void	compute (PointCloudOut &output)
	Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
int	searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions
bool	initCompute () override
Protected Member Functions inherited from pcl::Keypoint< PointT, PointT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...
virtual void	detectKeypoints (PointCloudOut &output)=0
	Abstract key point detection method. More...

Additional Inherited Members
Protected Attributes inherited from pcl::Keypoint< PointT, PointT >
std::string	name_
	The key point detection method's name. More...
SearchMethod	search_method_
	The search method template for indices. More...
SearchMethodSurface	search_method_surface_
	The search method template for points. More...
PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
KdTreePtr	tree_
	A pointer to the spatial search object. More...
double	search_parameter_
	The actual search parameter (casted from either search_radius_ or k_). More...
double	search_radius_
	The nearest neighbors search radius for each point. More...
int	k_
	The number of K nearest neighbors to use for each point. More...
pcl::PointIndicesPtr	keypoints_indices_
	Indices of the keypoints in the input cloud. More...

Detailed Description

Member Typedef Documentation

ConstPtr

KdTreePtr

PointCloudNT

PointCloudNTConstPtr

PointCloudT

PointCloudTConstPtr

PointCloudTPtr

Ptr

Constructor & Destructor Documentation

SmoothedSurfacesKeypoint()

Member Function Documentation

addSmoothedPointCloud()

detectKeypoints()

getNeighborhoodConstant()

initCompute()

resetClouds()

setInputNormals()

setInputScale()

setNeighborhoodConstant()

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The documentation for this class was generated from the following files:

• pcl/keypoints/smoothed_surfaces_keypoint.h
• pcl/keypoints/impl/smoothed_surfaces_keypoint.hpp